[WIP] Run the ROMFS through a CPP with the boardconfig

Signed-off-by: Silvan <silvan@auterion.com>

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -3,92 +3,45 @@ description: Create a report to help us improve
 title: "[Bug] "
 labels: ["bug-report"]
 body:
+  - type: markdown
+    attributes:
+      value: |
+        **Tips for a great bug report:**
+        - Describe what went wrong and what you expected
+        - Include a flight log link from [logs.px4.io](http://logs.px4.io/) if possible
+        - Mention your PX4 version, flight controller, and vehicle type if relevant
+
   - type: textarea
     attributes:
       label: Describe the bug
-      description: A clear and concise description of the bug.
+      description: A clear description of the bug and what you expected to happen.
+      placeholder: |
+        What happened and what did you expect instead?
+
+        Steps to reproduce (if applicable):
+        1.
+        2.
+        3.
     validations:
       required: true
 
   - type: textarea
     attributes:
-      label: To Reproduce
+      label: Flight Log / Additional Information
       description: |
-          Steps to reproduce the behavior.
-          1. Drone switched on '...'
-          2. Uploaded mission '....' (attach QGC mission file)
-          3. Took off '....'
-          4. See error
-    validations:
-      required: false
+        **Flight log** (highly recommended for flight-related issues):
+        - Upload to [PX4 Flight Review](http://logs.px4.io/) and paste the link
 
-  - type: textarea
-    attributes:
-      label: Expected behavior
-      description: A clear and concise description of what you expected to happen.
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-
-  - type: textarea
-    attributes:
-      label: Flight Log
-      description: |
-          *Always* provide a link to the flight log file:
-          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
-          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
-          - Share the link to the log (Copy and paste the URL of the log)
+        **Additional details** (if relevant):
+        - PX4 version (output of `ver all` in MAVLink Shell)
+        - Flight controller model
+        - Vehicle type (multicopter, fixed-wing, VTOL, etc.)
+        - Screenshots or media
       placeholder: |
-          # PASTE HERE THE LINK TO THE LOG
+        Flight log link:
+
+        Version:
+
+        Hardware:
     validations:
       required: false
-
-  - type: markdown
-    attributes:
-      value: |
-        ## Setup
-
-  - type: textarea
-    attributes:
-      label: Software Version
-      description: |
-          Which version of PX4 are you using?
-      placeholder: |
-          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
-    validations:
-      required: false
-
-  - type: input
-    attributes:
-      label: Flight controller
-      description: Specify your flight controller model (what type is it, where was it bought from, ...).
-    validations:
-      required: false
-
-  - type: dropdown
-    attributes:
-      label: Vehicle type
-      options:
-        - Multicopter
-        - Helicopter
-        - Fixed Wing
-        - Hybrid VTOL
-        - Airship/Balloon
-        - Rover
-        - Boat
-        - Submarine
-        - Other
-
-  - type: textarea
-    attributes:
-      label: How are the different components wired up (including port information)
-      description: Details about how all is wired.
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context about the problem here.

.github/ISSUE_TEMPLATE/config.yml

@@ -1,4 +1,4 @@
-blank_issues_enabled: false
+blank_issues_enabled: true
 contact_links:
   - name: Support Question
     url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,22 +1,9 @@
 <!--
 
-Thank you for your contribution!
-
-Get early feedback through
-- Dronecode Discord: https://discord.gg/dronecode
-- PX4 Discuss: http://discuss.px4.io/
-- opening a draft pr and sharing the link
-
--->
-
 ### Solved Problem
-When ... I found that ...
-
 Fixes #{Github issue ID}
 
 ### Solution
-- Add ... for ...
-- Refactor ...
 
 ### Changelog Entry
 For release notes:
@@ -27,11 +14,10 @@ Documentation: Need to clarify page ... / done, read docs.px4.io/...
 ```
 
 ### Alternatives
-We could also ...
 
 ### Test coverage
-- Unit/integration test: ...
-- Simulation/hardware testing logs: https://review.px4.io/
 
 ### Context
 Related links, screenshot before/after, video
+
+-->

.github/instructions/docs.en.instructions.md

@@ -0,0 +1,48 @@
+---
+applyTo: "docs/en/**"
+---
+
+# Review Guidelines docs/en Tree
+
+## File System & Structure
+
+- **Naming:** Use `lowercase_with_underscores` for all filenames. No spaces.
+- **Hierarchy:** Markdown files must reside exactly in a first-level category folder. 
+  - Valid: `docs/en/category/file.md`
+  - Invalid: `docs/en/category/subcategory/file.md`
+- **Text Files:** Any `.txt` or `.text` files must start with an underscore (e.g., `_notes.txt`).
+- **Assets:** All images/non-docs must be in `/docs/assets/`. Deep nesting is permitted here.
+- **Formats:** Prefer **SVG** for diagrams and **PNG** for screenshots. Flag JPG files.
+
+## Markdown & Style
+
+- **Headings:** Use Title Case ("First Letter Capitalisation"). 
+  - The Page Title must be the only H1 (`#`). All others must be `##` or lower.
+  - Do not apply bold or italic styling inside a heading.
+- **Formatting:** 
+  - **Bold:** Only for UI elements (buttons, menu items).
+  - **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
+  - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
+- **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
+
+## Linking & Navigation
+
+- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`.
+  Note relative link. 
+- **Table Links:** To keep tables readable, use reference-style links.
+  - Definition: `[Link Name]: https://example.com` (placed below the table).
+  - Usage: `[Link Name]` within the table cell.
+- **Images:** All image links must include a descriptive, accessible alt-text in the brackets: `![Detailed description of the image content](../../assets/path/to/image.png)`.
+  Note that all images should be relative references to images stored in the assets folder, which should be two folders below the any markdown file (as they are stored in a "category" subfolder) 
+
+- **Standard Links:** Use standard inline syntax: `[link text](../category/filename.md)`. Note the use of relative links.
+- **Table Links:** To keep tables easier to edit, prefer reference-style links.
+  - Definition: `[Link Name]: https://example.com` (placed below the table).
+  - Usage: `[Link Name]` within the table cell.
+- **Images:** All image links must include a descriptive, accessible alt-text: `![Detailed description of the image content](../../assets/path/to/image.png)`.
+  - **Note:** All images must be relative references to the `/docs/assets/` folder. Since documents are nested in a category folder, this is usually two levels up (`../../assets/`).
+
+## Quality Control
+
+- **Prettier Check:** Ensure Prettier rules have been applied. If there is evidence of inconsistent indentation or spacing, request the author run `npx prettier --write .` before merging.
+- **Language:** Enforce **UK English** spelling and grammar.

.github/runs-on.yml

@@ -0,0 +1,24 @@
+runners:
+  x86-small-runner:
+    cpu: [1, 2]
+    ram: [1, 4]
+    disk: default
+    spot: price-capacity-optimized
+    image: ubuntu24-full-x64
+    extras: s3-cache
+  x86-firmware-builder:
+    cpu: [4, 8]
+    ram: [8, 16]
+    disk: default
+    family: ["c7i", "m7i", "r7i"]
+    spot: price-capacity-optimized
+    image: ubuntu24-full-x64
+    extras: s3-cache
+  arm64-firmware-builder:
+    cpu: [4, 8]
+    ram: [8, 16]
+    disk: default
+    family: ["c7g", "m7g", "r7g"]
+    spot: price-capacity-optimized
+    image: ubuntu24-full-arm64
+    extras: s3-cache

.github/workflows/build_all_targets.yml

@@ -26,11 +26,15 @@ concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: true
 
+permissions:
+  contents: write
+  actions: read
+
 jobs:
   group_targets:
     name: Scan for Board Targets
     # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     outputs:
       matrix: ${{ steps.set-matrix.outputs.matrix }}
       timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
@@ -38,6 +42,14 @@ jobs:
     steps:
       - uses: actions/checkout@v4
 
+      - name: Cache Python pip
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/pip
+          key: ${{ runner.os }}-pip-${{ hashFiles('**./Tools/setup/requirements.txt') }}
+          restore-keys: |
+            ${{ runner.os }}-pip-
+
       - name: Update python packaging to avoid canonicalize_version() error
         run: |
             pip3 install -U packaging
@@ -48,12 +60,15 @@ jobs:
           path: "./Tools/setup/requirements.txt"
 
       - id: set-matrix
-        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
+        name: Generate Build Matrix
+        run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT
 
       - id: set-timestamp
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+        name: Save Current Timestamp
+        run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
 
       - id: set-branch
+        name: Save Current Branch Name
         run: |
           echo "branchname=${{
             github.event_name == 'pull_request' &&
@@ -70,7 +85,7 @@ jobs:
           echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
 
   setup:
-    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
+    name: Build [${{ matrix.runner }}][${{ matrix.group }}]
     # runs-on: ubuntu-latest
     runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
     needs: group_targets
@@ -80,6 +95,7 @@ jobs:
     container:
       image: ${{ matrix.container }}
     steps:
+      - uses: runs-on/action@v2
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
@@ -87,14 +103,24 @@ jobs:
       - name: Git ownership workaround
         run: git config --system --add safe.directory '*'
 
-      - name: Setup ccache
-        uses: actions/cache@v4
+      # ccache key breakdown:
+      # ccache-<system os>-<system arch>-<builder group>-
+      # ccache-<linux>-<arm64>-<aarch64-0>-
+      # ccache-<linux>-<x64>-<nuttx-0>-
+      - name: Cache Restore from Key
+        id: cc_restore
+        uses: actions/cache/restore@v4
         with:
           path: ~/.ccache
-          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
+          restore-keys: |
+            ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
+            ccache-${{ runner.os }}-${{ matrix.runner }}-
+            ccache-${{ runner.os }}-${{ matrix.runner }}-
+            ccache-${{ runner.os }}-
+            ccache-
 
-      - name: Configure ccache
+      - name: Cache Config and Stats
         run: |
             mkdir -p ~/.ccache
             echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
@@ -102,10 +128,11 @@ jobs:
             echo "compression_level = 6" >> ~/.ccache/ccache.conf
             echo "max_size = 120M" >> ~/.ccache/ccache.conf
             echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            echo "compiler_check = content" >> ~/.ccache/ccache.conf
             ccache -s
             ccache -z
 
-      - name: Building [${{ matrix.group }}]
+      - name: Building Artifacts for [${{ matrix.targets }}]
         run: |
             ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}
 
@@ -119,15 +146,27 @@ jobs:
           name: px4_${{matrix.group}}_build_artifacts
           path: artifacts/
 
+      - name: Cache Post Build Stats
+        if: always()
+        run: |
+            ccache -s
+            ccache -z
+
       - name: Cache Save
-        run: ccache -s
+        if: always()
+        uses: actions/cache/save@v4
+        with:
+          path: ~/.ccache
+          key: ${{ steps.cc_restore.outputs.cache-primary-key }}
 
   artifacts:
-    name: Upload Artifacts to S3
+    name: Upload Artifacts
     # runs-on: ubuntu-latest
     runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     needs: [setup, group_targets]
-    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
+    if: startsWith(github.ref, 'refs/tags/v') || contains(fromJSON('["main","stable","beta"]'), needs.group_targets.outputs.branchname)
+    outputs:
+      uploadlocation: ${{ steps.upload-location.outputs.uploadlocation }}
     steps:
       - name: Download Artifacts
         uses: actions/download-artifact@v4
@@ -135,11 +174,36 @@ jobs:
           path: artifacts/
           merge-multiple: true
 
-      - name: Branch Name
+      - name: Choose Upload Location
+        id: upload-location
         run: |
-          echo "${{ needs.group_targets.outputs.branchname }}"
+          # Determine upload location based on branch or tag with the following considerations:
+          # Destination: AWS S3 bucket px4-travis in folder Firmware/
+          # - If branch is main -> upload to master/
+          #   - Older versions of QGC are hardocded to look for master/
+          # - If branch is stable or beta -> upload to stable/ or beta/
+          # - If a tag vX.Y.Z -> upload to vX.Y.Z/
+          #   - Also update stable/ to point to the same version
+          #.  - Older versions of QGC are hardocded to look for stable/
+          # - If a pull request -> do not upload
+          set -euo pipefail
 
-      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
+          ref="${GITHUB_REF}"
+          branch=${{ needs.group_targets.outputs.branchname  }}
+          location="$branch"
+
+          if [[ "$branch" == "main" ]]; then
+            location="master"
+          fi
+
+          if [[ "$ref" == refs/tags/v[0-9]* ]]; then
+            tag="${ref#refs/tags/}"
+            location="$tag"
+          fi
+
+          echo "uploadlocation=$location" >> $GITHUB_OUTPUT
+
+      - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
         uses: jakejarvis/s3-sync-action@master
         with:
           args: --acl public-read
@@ -149,25 +213,30 @@ jobs:
           AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
           AWS_REGION: 'us-west-1'
           SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
+          DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
 
-  release:
-    name: Create Release and Upload Artifacts
-    permissions:
-      contents: write
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
-    needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/')
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
+      # if we are uploading artifacts to a versioned folder
+      # we should also update the stable folder in the s3 bucket
+      - name: Uploading Artifacts to S3 [stable]
+        uses: jakejarvis/s3-sync-action@master
+        if: startsWith(github.ref, 'refs/tags/v')
         with:
-          path: artifacts/
-          merge-multiple: true
+          args: --acl public-read
+        env:
+          AWS_S3_BUCKET: 'px4-travis'
+          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          AWS_REGION: 'us-west-1'
+          SOURCE_DIR: artifacts/
+          DEST_DIR: Firmware/stable/
 
-      - name: Upload Binaries to Release
+      # if build is a release triggered by a versioned tag then create a github release
+      # and upload the build artifacts. A draft release is created so that the release
+      # can be reviewed before publishing
+      - name: Upload Artifacts to GitHub Release
         uses: softprops/action-gh-release@v2
+        if: startsWith(github.ref, 'refs/tags/v')
         with:
           draft: true
           files: artifacts/*.px4
+          name: ${{ steps.upload-location.outputs.uploadlocation }}

.github/workflows/compile_ubuntu.yml

@@ -29,7 +29,7 @@ jobs:
       fail-fast: false
       matrix:
         version: ['ubuntu:22.04', 'ubuntu:24.04']
-    runs-on: [runs-on,runner=8cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,"image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false]
     container:
       image: ${{ matrix.version }}
       volumes:

.github/workflows/dev_container.yml

@@ -39,7 +39,7 @@ jobs:
     name: Set Tags and Variables
     permissions:
       contents: read
-    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
     outputs:
       px4_version: ${{ steps.px4_version.outputs.px4_version }}
       meta_tags: ${{ steps.meta.outputs.tags }}
@@ -87,7 +87,7 @@ jobs:
           - platform: linux/amd64
             arch: amd64
             runner: x64
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
     steps:
       - uses: runs-on/action@v1
       - uses: actions/checkout@v4
@@ -130,15 +130,15 @@ jobs:
           load: false
           push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
           provenance: false
-          cache-from: type=gha,version=1
-          cache-to: type=gha,version=1,mode=max
+          cache-from: type=gha,version=1,scope=${{ matrix.arch }}
+          cache-to: type=gha,version=1,mode=max,scope=${{ matrix.arch }}
 
   deploy:
     name: Deploy To Registry
     permissions:
       contents: read
       packages: write
-    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,"runner=4cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
     needs: [build, setup]
     if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
     steps:

.github/workflows/docs_deploy.yml

@@ -1,19 +1,6 @@
-name: Docs - Deploy PX4 User Guide
+name: Docs - Deploy PX4 User Guide to Github pages (Manual)
 
 on:
-  push:
-    branches:
-      - 'main'
-      - 'release/**'
-    paths:
-      - 'docs/en/**'
-  pull_request:
-    branches:
-      - '**'
-    paths:
-      - 'docs/en/**'
-
-  # Allows you to run this workflow manually from the Actions tab
   workflow_dispatch:
 
 # Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
@@ -33,7 +20,7 @@ env:
 
 jobs:
   build:
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",extras=s3-cache,spot=false]
     steps:
       - uses: runs-on/action@v1
       - name: Checkout
@@ -68,7 +55,7 @@ jobs:
   deploy:
     if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
     needs: build
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
 
     steps:
       - name: Download Artifact

.github/workflows/docs_deploy_aws.yml

@@ -7,42 +7,52 @@ on:
       - "release/**"
     paths:
       - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
   pull_request:
-    branches:
-      - "**"
     paths:
       - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
 
   workflow_dispatch:
 
 permissions:
   contents: read
+  actions: read
   id-token: write # for AWS OIDC
 
 concurrency:
   group: docs-deploy
   cancel-in-progress: false
 
-env:
-  BRANCH_NAME: ${{ github.head_ref || github.ref_name }}
-
 jobs:
   build:
-    runs-on:
-      [
-        runs-on,
-        runner=8cpu-linux-x64,
-        image=ubuntu24-full-x64,
-        "run-id=${{ github.run_id }}",
-        spot=false,
-        extras=s3-cache,
-      ]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      branchname: ${{ steps.set-branch.outputs.branchname }}
+      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
     steps:
       - uses: runs-on/action@v1
 
       - name: Checkout
         uses: actions/checkout@v4
 
+      - id: set-branch
+        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
+
+      - id: set-version
+        run: |
+          branch="${{ steps.set-branch.outputs.branchname }}"
+          if [[ "$branch" == "main" ]]; then
+            version="main"
+          else
+            version="v${branch#release/}"
+          fi
+          echo "releaseversion=$version" >> $GITHUB_OUTPUT
+
       - name: Setup Node
         uses: actions/setup-node@v4
         with:
@@ -55,6 +65,8 @@ jobs:
 
       - name: Build with VitePress
         working-directory: ./docs
+        env:
+          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
         run: |
           npm run docs:build_ubuntu
           touch .vitepress/dist/.nojekyll
@@ -91,14 +103,14 @@ jobs:
 
       - name: Upload HTML with short cache
         run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ env.BRANCH_NAME }}/ \
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
             --delete \
             --exclude "*" --include "*.html" \
             --cache-control "public, max-age=60"
 
       - name: Upload assets with long cache
         run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ env.BRANCH_NAME }}/ \
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
             --delete \
             --exclude "*.html" \
             --cache-control "public, max-age=86400, immutable"

.github/workflows/failsafe_sim.yml

@@ -48,6 +48,7 @@ jobs:
         run: |
           git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
           cd _emscripten_sdk
+          git checkout 4.0.15
           ./emsdk install latest
           ./emsdk activate latest
 

.github/workflows/flash_analysis.yml

@@ -24,7 +24,7 @@ env:
 jobs:
   analyze_flash:
     name: Analyzing ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
@@ -54,6 +54,7 @@ jobs:
         run: |
           make clean
           make distclean
+          make submodulesclean
 
       - name: If it's a PR checkout the base branch
         if: ${{ github.event.pull_request }}
@@ -97,7 +98,7 @@ jobs:
   # Track this issue https://github.com/PX4/PX4-Autopilot/issues/24408
   post_pr_comment:
     name: Publish Results
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}"]
     needs: [analyze_flash]
     env:
       V5X-SUMMARY-MAP-ABS: ${{ fromJSON(fromJSON(needs.analyze_flash.outputs.px4_fmu-v5x-bloaty-summary-map).vm-absolute) }}

.github/workflows/itcm_check.yml

@@ -22,7 +22,7 @@ concurrency:
 jobs:
   check_itcm:
     name: Checking ${{ matrix.target }}
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
     strategy:
@@ -41,6 +41,10 @@ jobs:
             scripts: >
               boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
               boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
+          - target: nxp_mr-tropic
+            scripts: >
+              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_functions_includes.ld
+              boards/nxp/mr-tropic/nuttx-config/scripts/itcm_static_functions.ld
     steps:
       - uses: actions/checkout@v4
         with:

.github/workflows/ros_integration_tests.yml

@@ -23,7 +23,7 @@ concurrency:
 
 jobs:
   build:
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev-ros2-galactic:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined

.github/workflows/ros_translation_node.yml

@@ -21,7 +21,7 @@ concurrency:
 jobs:
   build_and_test:
     name: Build and test
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
     strategy:
       fail-fast: false
       matrix:

.github/workflows/sitl_tests.yml

@@ -24,7 +24,7 @@ concurrency:
 jobs:
   build:
     name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
     container:
       image: px4io/px4-dev-simulation-focal:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -118,7 +118,7 @@ jobs:
           PX4_HOME_LON: ${{matrix.config.longitude}}
           PX4_HOME_ALT: ${{matrix.config.altitude}}
           PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose --force-color
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} test/mavsdk_tests/configs/sitl.json --verbose --force-color
         timeout-minutes: 45
 
       - name: Upload failed logs

.github/workflows/stale.yml

@@ -7,10 +7,15 @@ jobs:
   stale:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v8
+      - uses: actions/stale@v10
         with:
-          days-before-stale: 30
-          days-before-close: -1
+          operations-per-run: 250
+          days-before-stale: 90
+          days-before-close: 30
           stale-issue-label: 'stale'
           stale-pr-label: 'stale'
           remove-stale-when-updated: true
+          stale-issue-message: ''
+          close-issue-message: 'This issue has been automatically closed due to 120 days of inactivity. If you believe this is still relevant, please feel free to reopen it or create a new issue.'
+          stale-pr-message: ''
+          close-pr-message: 'This pull request has been automatically closed due to 120 days of inactivity. If you would like to continue, please feel free to reopen it or submit a new PR.'

.github/workflows/sync_to_px4_msgs.yml

@@ -0,0 +1,62 @@
+name: Sync ROS 2 messages to px4_msgs
+on:
+  push:
+    branches:
+      - 'main'
+      - 'stable'
+      - 'beta'
+      - 'release/**'
+    paths:
+      - 'msg/**'
+      - 'srv/**'
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  sync_to_px4_msgs:
+    if: github.repository == 'PX4/PX4-Autopilot'
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    steps:
+      - name: Checkout PX4 repo
+        uses: actions/checkout@v4
+
+      - name: Setup git credentials
+        run: |
+          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
+          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
+
+      - name: Clone PX4_msgs repo
+        run: |
+          git clone https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/px4_msgs.git
+
+      - name: Check out the same branch as the PX4 repo
+        run: |
+          cd px4_msgs
+          if git checkout ${{ github.ref_name }}; then
+            echo "Checked out existing branch"
+          else
+            git checkout -b ${{ github.ref_name }}
+          fi
+
+      - name: Copy ROS 2 messages
+        run: |
+          rm -f px4_msgs/msg/*.msg
+          rm -f px4_msgs/msg/versioned/*.msg
+          rm -f px4_msgs/srv/*.srv
+          rm -f px4_msgs/srv/versioned/*.srv
+          cp msg/*.msg px4_msgs/msg/
+          cp msg/versioned/*.msg px4_msgs/msg/ || true
+          cp srv/*.srv px4_msgs/srv/
+          cp srv/versioned/*.srv px4_msgs/srv/ || true
+
+      - name: Commit and push changes
+        run: |
+          cd px4_msgs
+          git status
+          git add .
+          git commit -a -m "Update to PX4 ${{ github.sha }}" || true
+          git push origin ${{ github.ref_name }} || true
+          cd ..
+          rm -rf px4_msgs

.gitmodules

@@ -103,3 +103,9 @@
 [submodule "src/drivers/ins/sbgecom/sbgECom"]
 	path = src/drivers/ins/sbgecom/sbgECom
 	url = https://github.com/PX4/sbgECom.git
+[submodule "src/modules/mc_raptor/blob"]
+	path = src/modules/mc_raptor/blob
+	url = https://github.com/rl-tools/px4-blob
+[submodule "src/lib/rl_tools/rl_tools"]
+	path = src/lib/rl_tools/rl_tools
+	url = https://github.com/rl-tools/rl-tools.git

.vscode/cmake-variants.yaml

@@ -6,6 +6,16 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_raptor:
+      short: px4_sitl_raptor
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_raptor
+    px4_sitl_raptor_debug:
+      short: px4_sitl_raptor_debug
+      buildType: Debug
+      settings:
+        CONFIG: px4_sitl_raptor
     px4_sitl_spacecraft:
       short: px4_sitl_spacecraft
       buildType: RelWithDebInfo
@@ -141,6 +151,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-flow_canbootloader
+    ark_can-flow-mr_default:
+      short: ark_can-flow-mr_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-flow-mr_default
     ark_can-flow-mr_canbootloader:
       short: ark_can-flow-mr_canbootloader
       buildType: MinSizeRel
@@ -236,6 +251,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_fpv_default
+    ark_mag_canbootloader:
+      short: ark_mag_canbootloader
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: ark_mag_canbootloader
+    ark_mag_default:
+      short: ark_mag_default
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: ark_mag_default
     ark_pi6x_bootloader:
       short: ark_pi6x_bootloader
       buildType: MinSizeRel
@@ -406,6 +431,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: micoair_h743-v2_default
+    micoair_h743-lite_bootloader:
+      short: micoair_h743-lite_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-lite_bootloader
+    micoair_h743-lite_default:
+      short: micoair_h743-lite
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743-lite_default
     modalai_fc-v1_default:
       short: modalai_fc-v1
       buildType: MinSizeRel
@@ -456,6 +491,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: nxp_mr-canhubk3_fmu
+    nxp_mr-tropic_default:
+      short: nxp_mr-tropic_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-tropic_default
+    nxp_mr-tropic_bootloader:
+      short: nxp_mr-tropic_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: nxp_mr-tropic_bootloader
     nxp_tropic-community_default:
       short: nxp_tropic-community_default
       buildType: MinSizeRel
@@ -486,3 +531,23 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: x-mav_ap-h743v2_default
+    svehicle_e2_bootloader:
+      short: svehicle_e2_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: svehicle_e2_bootloader
+    svehicle_e2_default:
+      short: svehicle_e2
+      buildType: MinSizeRel
+      settings:
+        CONFIG: svehicle_e2_default
+    x-mav_ap-h743r1_bootloader:
+      short: x-mav_ap-h743r1-boot
+      buildType: MinSizeRel
+      settings:
+        CONFIG: x-mav_ap-h743r1_bootloader
+    x-mav_ap-h743r1_default:
+      short: x-mav_ap-h743r1
+      buildType: MinSizeRel
+      settings:
+        CONFIG: x-mav_ap-h743r1_default

CMakeLists.txt

@@ -267,7 +267,7 @@ endif()
 
 set(package-contact "px4users@googlegroups.com")
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)

Jenkinsfile

@@ -220,36 +220,6 @@ pipeline {
           }
         }
 
-        stage('PX4 ROS msgs') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
-          }
-          steps {
-            sh('export')
-            sh('make distclean; git clean -ff -x -d .')
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
-              // 'main' branch
-              sh('rm -f px4_msgs/msg/*.msg')
-              sh('rm -f px4_msgs/msg/versioned/*.msg')
-              sh('rm -f px4_msgs/srv/*.srv')
-              sh('rm -f px4_msgs/srv/versioned/*.srv')
-              sh('cp msg/*.msg px4_msgs/msg/')
-              sh('cp msg/versioned/*.msg px4_msgs/msg/ || true')
-              sh('cp srv/*.srv px4_msgs/srv/')
-              sh('cp srv/versioned/*.srv px4_msgs/srv/ || true')
-              sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
-              sh('cd px4_msgs; git push origin main || true')
-              sh('rm -rf px4_msgs')
-            }
-          }
-          when {
-            anyOf {
-              branch 'main'
-            }
-          }
-        }
-
         stage('S3') {
           agent {
             docker { image 'px4io/px4-dev-base-focal:2021-08-18' }

LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2012 - 2023, PX4 Development Team
+Copyright (c) 2012 - 2025, PX4 Development Team
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -325,6 +325,8 @@ bootloaders_update: \
 	ark_fmu-v6x_bootloader \
 	ark_fpv_bootloader \
 	ark_pi6x_bootloader \
+	auterion_fmu-v6s_bootloader \
+	auterion_fmu-v6x_bootloader \
 	cuav_nora_bootloader \
 	cuav_x7pro_bootloader \
 	cuav_7-nano_bootloader \
@@ -344,6 +346,7 @@ bootloaders_update: \
         micoair_h743_bootloader \
         micoair_h743-aio_bootloader \
 	micoair_h743-v2_bootloader \
+	micoair_h743-lite_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \

ROMFS/CMakeLists.txt

@@ -85,10 +85,32 @@ endif()
 if(PX4_ETHERNET)
 	set(added_arguments ${added_arguments} --ethernet)
 endif()
+# Check if board has an rc.board_airframes file to filter airframes
+set(board_airframes_file "${PX4_BOARD_DIR}/init/rc.board_airframes")
+set(airframes_whitelist "")
+if(EXISTS "${board_airframes_file}")
+	message(STATUS "ROMFS: Using board-specific airframes list: ${board_airframes_file}")
+	file(STRINGS "${board_airframes_file}" airframes_whitelist)
+	# Remove comments and empty lines
+	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*#")
+	list(FILTER airframes_whitelist EXCLUDE REGEX "^[ \t]*$")
+endif()
+
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)
 	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
+
+	# If we have an airframes whitelist, filter airframe files
+	if(airframes_whitelist AND romfs_file_rel MATCHES "^init.d/airframes/")
+		# Extract just the filename
+		get_filename_component(airframe_name "${romfs_file_rel}" NAME)
+		# Check if it's in the whitelist
+		if(NOT "${airframe_name}" IN_LIST airframes_whitelist)
+			continue()
+		endif()
+	endif()
+
 	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
 endforeach()
 # copy the ROMFS files by creating a tar and extracting it to the build
@@ -124,6 +146,11 @@ add_custom_command(
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+	# Preprocess ROMFS files with KConfig definitions
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_preprocess.py
+		--romfs-dir ${romfs_gen_root_dir}
+		--kconfig-header ${PX4_BINARY_DIR}/px4_boardconfig.h
+		--cpp ${CMAKE_C_COMPILER}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -137,8 +164,10 @@ add_custom_command(
 		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
-	COMMENT "ROMFS: copying, generating airframes"
+	DEPENDS
+		${romfs_tar_file}
+		${PX4_BINARY_DIR}/px4_boardconfig.h
+	COMMENT "ROMFS: copying, preprocessing, generating airframes"
 	)
 
 # copy extras into ROMFS

ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane

@@ -27,7 +27,6 @@ param set-default SIH_KDV 0.2
 param set-default SIH_VEHICLE_TYPE 1 	# sih as fixed wing
 param set-default RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
 
-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1030_gazebo-classic_plane

@@ -44,8 +44,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1031_gazebo-classic_plane_cam

@@ -46,8 +46,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -46,8 +46,6 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal

@@ -31,8 +31,6 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric

@@ -31,8 +31,6 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1035_gazebo-classic_techpod

@@ -30,8 +30,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo

@@ -31,8 +31,6 @@ param set-default NAV_DLL_ACT 2
 param set-default RWTO_TKOFF 1
 param set-default RWTO_PSP 8
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer

@@ -38,8 +38,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1038_gazebo-classic_glider

@@ -44,8 +44,6 @@ param set-default MIS_TAKEOFF_ALT 30
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal

@@ -35,8 +35,6 @@ param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane

@@ -35,8 +35,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/1044_gazebo-classic_plane_lidar

@@ -46,8 +46,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/17001_flightgear_tf-g1

@@ -43,8 +43,6 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/17002_flightgear_tf-g2

@@ -48,8 +48,6 @@ param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500

@@ -49,9 +49,3 @@ param set-default SIM_GZ_EC_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60
 param set-default NAV_DLL_ACT 2
-
-# DEBUGGING: ekf range fusion
-# default, ekf replay, cv+avoid, high rate sensors
-param set-default SDLOG_PROFILE 2179
-# sim distance on ground
-param set-default EKF2_MIN_RNG 0.177

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -53,8 +53,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default COM_PREARM_MODE 2
 
 param set-default CA_ROTOR_COUNT 1

ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane

@@ -11,8 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
 
 param set-default SIM_GZ_EN 1
 
-param set-default SENS_EN_ARSPDSIM 1
-
 param set-default FW_LND_ANG 8
 
 param set-default FW_PR_FF 0.08
@@ -48,8 +46,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 
 param set-default CA_SV_CS_COUNT 6

ROMFS/px4fmu_common/init.d-posix/airframes/4019_gz_x500_gimbal

@@ -19,5 +19,6 @@ param set-default MNT_MAN_PITCH 2
 param set-default MNT_MAN_YAW 3
 
 param set-default MNT_RANGE_ROLL 180
-param set-default MNT_RANGE_PITCH 180
+param set-default MNT_MAX_PITCH 45
+param set-default MNT_MIN_PITCH -135
 param set-default MNT_RANGE_YAW 720

ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential

@@ -17,6 +17,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default RD_WHEEL_TRACK 0.6
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.174533
+param set-default RD_YAW_STK_GAIN 0.6
 
 # Rate Control Parameters
 param set-default RO_YAW_RATE_I 0.01
@@ -25,6 +26,8 @@ param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 400
 param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
 # Attitude Control Parameters
 param set-default RO_YAW_P 5

ROMFS/px4fmu_common/init.d-posix/airframes/51000_gz_rover_ackermann

@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Rover Ackermann
+# @name Generic Ackermann Rover
 # @type Rover
 # @class Rover
 
@@ -14,30 +14,32 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default NAV_ACC_RAD 0.5
 
 # Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
+param set-default RA_WHEEL_BASE 0.5
 param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
+param set-default RA_ACC_RAD_MAX 1.5
 param set-default RA_MAX_STR_ANG 0.5236
 param set-default RA_STR_RATE_LIM 360
 
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 15
-param set-default RO_MAX_THR_SPEED 3.1
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 1
-param set-default RO_YAW_RATE_LIM 180
+# Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 130
+param set-default RO_YAW_ACCEL_LIM 800
+param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
-# Rover Attitude Control Parameters
+# Attitude Control Parameters
 param set-default RO_YAW_P 3
 
-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.1
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.1
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 1
 param set-default RO_SPEED_RED 1
 
@@ -48,8 +50,8 @@ param set-default PP_LOOKAHD_MIN 1
 
 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
 # Steering

ROMFS/px4fmu_common/init.d-posix/airframes/52000_gz_rover_mecanum

@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Aion Robotics R1 Rover
+# @name Generic Mecanum Rover
 # @type Rover
 # @class Rover
 
@@ -7,14 +7,15 @@
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
 param set-default NAV_ACC_RAD 0.5
 
 # Mecanum Parameters
-param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_WHEEL_TRACK 0.6
+param set-default RM_YAW_STK_GAIN 0.6
 
 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -29,15 +30,21 @@ param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
 param set-default RO_YAW_RATE_CORR 1.75
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.1
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 0.5
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5
@@ -48,24 +55,24 @@ param set-default PP_LOOKAHD_MIN 1
 param set-default SENS_EN_MAGSIM 1
 
 # Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
+param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
 param set-default SIM_GZ_WH_MIN1 70
 param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
-param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
+param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
 param set-default SIM_GZ_WH_MIN2 70
 param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100
 
-param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
+param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
 param set-default SIM_GZ_WH_MIN3 70
 param set-default SIM_GZ_WH_MAX3 130
 param set-default SIM_GZ_WH_DIS3 100
 
-param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
+param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
 param set-default SIM_GZ_WH_MIN4 70
 param set-default SIM_GZ_WH_MAX4 130
 param set-default SIM_GZ_WH_DIS4 100
 
-param set-default SIM_GZ_WH_REV 10
+param set-default SIM_GZ_WH_REV 0

ROMFS/px4fmu_common/init.d-posix/airframes/6011_gazebo-classic_typhoon_h480

@@ -26,7 +26,6 @@ param set-default TRIG_INTERFACE 3
 param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
-param set-default MAV_PROTO_VER 2
 
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 6

ROMFS/px4fmu_common/init.d-posix/airframes/70001_gz_atmos_dual

@@ -0,0 +1,167 @@
+#!/bin/sh
+#
+# @name KTH-ATMOS
+#
+# @type Free-Flyer
+# @class Spacecraft
+#
+# @output Motor1 back left thruster, +x thrust
+# @output Motor2 front left thruster, -x thrust
+# @output Motor3 back right thruster, +x thrust
+# @output Motor4 front right thruster, -x thrust
+# @output Motor5 front left thruster, +y thrust
+# @output Motor6 front right thruster, -y thrust
+# @output Motor7 back left thruster, +y thrust
+# @output Motor8 back right thruster, -y thrust
+#
+# @maintainer discower-io
+# @url https://atmos.discower.io
+#
+
+. ${R}etc/init.d/rc.sc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=atmos_dual}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_MAGSIM 1
+param set-default COM_ARM_CHK_ESCS 0  # We don't have ESCs
+param set-default FD_ESCS_EN 0
+
+param set-default CA_AIRFRAME 14
+param set-default MAV_TYPE 45
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 0
+
+# Auto to be provided by Custom Airframe
+param set-default CA_METHOD 0
+
+# Set proper failsafes
+param set-default COM_ACT_FAIL_ACT 0
+param set-default COM_LOW_BAT_ACT 0
+param set-default NAV_DLL_ACT 0
+param set-default GF_ACTION 1
+param set-default NAV_RCL_ACT 1
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+param set-default CA_ROTOR0_PX -0.12
+param set-default CA_ROTOR0_PY -0.12
+param set-default CA_ROTOR0_PZ 0.0
+param set-default CA_ROTOR0_CT 1.4
+param set-default CA_ROTOR0_AX 1.0
+param set-default CA_ROTOR0_AY 0.0
+param set-default CA_ROTOR0_AZ 0.0
+
+param set-default CA_ROTOR1_PX 0.12
+param set-default CA_ROTOR1_PY -0.12
+param set-default CA_ROTOR1_PZ 0.0
+param set-default CA_ROTOR1_CT 1.4
+param set-default CA_ROTOR1_AX -1.0
+param set-default CA_ROTOR1_AY 0.0
+param set-default CA_ROTOR1_AZ 0.0
+
+param set-default CA_ROTOR2_PX -0.12
+param set-default CA_ROTOR2_PY 0.12
+param set-default CA_ROTOR2_PZ 0.0
+param set-default CA_ROTOR2_CT 1.4
+param set-default CA_ROTOR2_AX 1.0
+param set-default CA_ROTOR2_AY 0.0
+param set-default CA_ROTOR2_AZ 0.0
+
+param set-default CA_ROTOR3_PX 0.12
+param set-default CA_ROTOR3_PY 0.12
+param set-default CA_ROTOR3_PZ 0.0
+param set-default CA_ROTOR3_CT 1.4
+param set-default CA_ROTOR3_AX -1.0
+param set-default CA_ROTOR3_AY 0.0
+param set-default CA_ROTOR3_AZ 0.0
+
+param set-default CA_ROTOR4_PX 0.12
+param set-default CA_ROTOR4_PY -0.12
+param set-default CA_ROTOR4_PZ 0.0
+param set-default CA_ROTOR4_CT 1.4
+param set-default CA_ROTOR4_AX 0.0
+param set-default CA_ROTOR4_AY 1.0
+param set-default CA_ROTOR4_AZ 0.0
+
+param set-default CA_ROTOR5_PX 0.12
+param set-default CA_ROTOR5_PY 0.12
+param set-default CA_ROTOR5_PZ 0.0
+param set-default CA_ROTOR5_CT 1.4
+param set-default CA_ROTOR5_AX 0.0
+param set-default CA_ROTOR5_AY -1.0
+param set-default CA_ROTOR5_AZ 0.0
+
+param set-default CA_ROTOR6_PX -0.12
+param set-default CA_ROTOR6_PY -0.12
+param set-default CA_ROTOR6_PZ 0.0
+param set-default CA_ROTOR6_CT 1.4
+param set-default CA_ROTOR6_AX 0.0
+param set-default CA_ROTOR6_AY 1.0
+param set-default CA_ROTOR6_AZ 0.0
+
+param set-default CA_ROTOR7_PX -0.12
+param set-default CA_ROTOR7_PY 0.12
+param set-default CA_ROTOR7_PZ 0.0
+param set-default CA_ROTOR7_CT 1.4
+param set-default CA_ROTOR7_AX 0.0
+param set-default CA_ROTOR7_AY -1.0
+param set-default CA_ROTOR7_AZ 0.0
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+param set-default SIM_GZ_EC_FUNC5 105
+param set-default SIM_GZ_EC_FUNC6 106
+param set-default SIM_GZ_EC_FUNC7 107
+param set-default SIM_GZ_EC_FUNC8 108
+param set-default SIM_GZ_EC_FUNC9 301
+param set-default SIM_GZ_EC_FUNC10 302
+param set-default SIM_GZ_EC_FUNC11 303
+param set-default SIM_GZ_EC_FUNC12 304
+
+param set-default SIM_GZ_EC_MIN1 0
+param set-default SIM_GZ_EC_MIN2 0
+param set-default SIM_GZ_EC_MIN3 0
+param set-default SIM_GZ_EC_MIN4 0
+param set-default SIM_GZ_EC_MIN5 0
+param set-default SIM_GZ_EC_MIN6 0
+param set-default SIM_GZ_EC_MIN7 0
+param set-default SIM_GZ_EC_MIN8 0
+param set-default SIM_GZ_EC_MIN9 1100
+param set-default SIM_GZ_EC_MIN10 1100
+param set-default SIM_GZ_EC_MIN11 1100
+param set-default SIM_GZ_EC_MIN12 1100
+
+param set-default SIM_GZ_EC_MAX1 10000
+param set-default SIM_GZ_EC_MAX2 10000
+param set-default SIM_GZ_EC_MAX3 10000
+param set-default SIM_GZ_EC_MAX4 10000
+param set-default SIM_GZ_EC_MAX5 10000
+param set-default SIM_GZ_EC_MAX6 10000
+param set-default SIM_GZ_EC_MAX7 10000
+param set-default SIM_GZ_EC_MAX8 10000
+param set-default SIM_GZ_EC_MAX9 1900
+param set-default SIM_GZ_EC_MAX10 1900
+param set-default SIM_GZ_EC_MAX11 1900
+param set-default SIM_GZ_EC_MAX12 1900
+
+# Controller Tunings
+param set SC_YAWRATE_P 3.335
+param set SC_YAWRATE_I 0.87
+param set SC_YAWRATE_D 0.15
+param set SC_YR_INT_LIM 0.2
+param set SC_YAW_P 3.0
+
+param set SPC_POS_P 0.20
+param set SPC_VEL_P 6.55
+param set SPC_VEL_I 0.0
+param set SPC_VEL_D 0.0
+param set SPC_VEL_MAX 12.0

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -80,10 +80,8 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
-	4012_gz_rover_ackermann
 	4013_gz_x500_lidar_2d
 	4014_gz_x500_mono_cam_down
-	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
 	4018_gz_quadtailsitter
@@ -114,10 +112,13 @@ px4_add_romfs_files(
 	17002_flightgear_tf-g2
 
 	50000_gz_rover_differential
+	51000_gz_rover_ackermann
+	52000_gz_rover_mecanum
 
 	60002_gz_uuv_bluerov2_heavy
 
 	70000_gz_atmos
+	70001_gz_atmos_dual
 
 	# [22000, 22999] Reserve for custom models
 )

ROMFS/px4fmu_common/init.d-posix/px4-rc.gzsim

@@ -159,24 +159,19 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	fi
 
 	# Set up camera to follow the model if requested
-	if [ -n "${PX4_GZ_FOLLOW}" ]; then
+	if [ -z "${PX4_GZ_NO_FOLLOW}" ]; then
 
 		echo "INFO  [init] Setting camera to follow ${MODEL_NAME_INSTANCE}"
 
-		# Set camera to follow the model
-		${gz_command} service -s "/gui/follow" --reqtype gz.msgs.StringMsg \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "data: \"${MODEL_NAME_INSTANCE}\"" > /dev/null 2>&1
-
 		# Set default camera offset if not specified
 		follow_x=${PX4_GZ_FOLLOW_OFFSET_X:--2.0}
 		follow_y=${PX4_GZ_FOLLOW_OFFSET_Y:--2.0}
 		follow_z=${PX4_GZ_FOLLOW_OFFSET_Z:-2.0}
 
 		# Set camera offset
-		${gz_command} service -s "/gui/follow/offset" --reqtype gz.msgs.Vector3d \
-				--reptype gz.msgs.Boolean --timeout 5000 \
-				--req "x: ${follow_x}, y: ${follow_y}, z: ${follow_z}" > /dev/null 2>&1
+		${gz_command} topic -t /gui/track -m gz.msgs.CameraTrack \
+				-p "track_mode: FOLLOW, follow_target: {name: '${MODEL_NAME_INSTANCE}'},\
+				 follow_offset: {x: ${follow_x}, y: ${follow_y}, z: ${follow_z}}, follow_pgain: 1.0, track_pgain: 1.0"
 
 		echo "INFO  [init] Camera follow offset set to ${follow_x}, ${follow_y}, ${follow_z}"
 	fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -126,15 +126,6 @@ then
 	set AUTOCNF yes
 fi
 
-# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
-env | while IFS='=' read -r line; do
-  value=${line#*=}
-  name=${line%%=*}
-  case $name in
-    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
-  esac
-done
-
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
@@ -173,7 +164,6 @@ param set-default COM_RC_IN_MODE 1
 param set-default EKF2_REQ_GPS_H 0.5
 
 param set-default IMU_GYRO_FFT_EN 1
-param set-default MAV_PROTO_VER 2 # Ensures QGC does not drop the first few packets after a SITL restart due to MAVLINK 1 packets
 
 param set-default -s MC_AT_EN 1
 
@@ -239,6 +229,15 @@ then
 	exit 1
 fi
 
+# Allow overriding parameters via env variables: export PX4_PARAM_{name}={value}
+env | while IFS='=' read -r line; do
+  value=${line#*=}
+  name=${line%%=*}
+  case $name in
+    "PX4_PARAM_"*) param set "${name#PX4_PARAM_}" "$value" ;;
+  esac
+done
+
 dataman start
 
 # only start the simulator if not in replay mode, as both control the lockstep time

ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil

@@ -14,7 +14,6 @@
 
 param set UAVCAN_ENABLE 0
 
-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d/airframes/17002_TF-AutoG2

@@ -18,6 +18,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
@@ -40,8 +42,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2

@@ -16,6 +16,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults
@@ -37,8 +39,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 

ROMFS/px4fmu_common/init.d/airframes/2100_standard_plane

@@ -10,7 +10,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.3
 param set-default CA_SV_CS_COUNT 4

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -32,7 +32,6 @@ param set-default FW_WR_IMAX 0.8
 param set-default FW_WR_P 1
 param set-default FW_W_RMAX 0
 
-param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_SV_CS_COUNT 7
 param set-default CA_SV_CS0_TRQ_R -0.5

ROMFS/px4fmu_common/init.d/airframes/3000_generic_wing

@@ -10,8 +10,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default CA_AIRFRAME 1
-
 param set-default CA_ROTOR_COUNT 1
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_SV_CS_COUNT 2

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -7,6 +7,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults
@@ -75,9 +77,6 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5
 
-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
 # Sensors Parameters
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25

ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames

@@ -7,6 +7,10 @@
 #
 # @board px4_fmu-v2 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6s exclude
+# @board ark_fmu-v6x exclude
+# @board auterion_fmu-v6x exclude
+# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -7,6 +7,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #
 
@@ -77,9 +78,6 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_DESCEND_ALT 5
 param set-default RTL_RETURN_ALT 5
 
-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
 # Sensors Parameters
 param set-default SENS_CM8JL65_CFG 202
 param set-default SENS_FLOW_MAXHGT 25

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -13,6 +13,11 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6s exclude
+# @board ark_fmu-v6x exclude
+# @board auterion_fmu-v6x exclude
+# @board px4_fmu-v6x exclude
+# @board px4_fmu-v6xrt exclude
 # @board bitcraze_crazyflie exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4050_generic_250

@@ -29,9 +29,6 @@ param set-default MPC_MAN_TILT_MAX 60
 
 param set-default THR_MDL_FAC 0.3
 
-# enable high-rate logging profile (helps with tuning)
-param set-default SDLOG_PROFILE 19
-
 param set-default IMU_DGYRO_CUTOFF 50
 param set-default IMU_GYRO_CUTOFF 90
 

ROMFS/px4fmu_common/init.d/airframes/4052_holybro_qav250

@@ -11,6 +11,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -9,6 +9,8 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
+# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu

@@ -10,6 +10,7 @@
 # @board cuav_x7pro exclude
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 #
 

ROMFS/px4fmu_common/init.d/airframes/4071_ifo

@@ -12,6 +12,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude

ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s

@@ -10,6 +10,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude

ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5

@@ -14,6 +14,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board diatone_mamba-f405-mk2 exclude

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -13,6 +13,7 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board auterion_fmu-v6x exclude
 # @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #

ROMFS/px4fmu_common/init.d/airframes/51002_nxp_b3rb

@@ -0,0 +1,31 @@
+#!/bin/sh
+#
+# @name NXP B3RB Rover Ackermann
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_ackermann_defaults
+
+param set-default BAT1_N_CELLS 3
+
+# Set geometry & output configration
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 101
+param set-default PWM_MAIN_FUNC3 101
+param set-default PWM_MAIN_DIS1 1500
+param set-default PWM_MAIN_DIS2 0
+param set-default PWM_MAIN_DIS3 1500
+param set-default PWM_MAIN_MIN1 1000
+param set-default PWM_MAIN_MIN2 2500
+param set-default PWM_MAIN_MIN3 0
+param set-default PWM_MAIN_MAX1 2000
+param set-default PWM_MAIN_MAX2 2500
+param set-default PWM_MAIN_MAX3 50
+param set-default PWM_MAIN_TIM0 400
+param set-default PWM_MAIN_TIM1 400
+param set-default PWM_MAIN_TIM2 20000

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -12,7 +12,9 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
+# @board ark_fmu-v6x exclude
 #
 
 . ${R}etc/init.d/rc.mc_defaults

ROMFS/px4fmu_common/init.d/airframes/70000_atmos

@@ -20,6 +20,9 @@
 
 . ${R}etc/init.d/rc.sc_defaults
 
+# Overwrite DDS AG IP to `192.168.0.1`
+param set-default UXRCE_DDS_AG_IP -1062731775
+
 param set-default CA_AIRFRAME 14
 param set-default MAV_TYPE 45
 

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -153,6 +153,7 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 		# [51000, 51999] Ackermann rovers
 		51000_generic_rover_ackermann
 		51001_axial_scx10_2_trail_honcho
+		51002_nxp_b3rb
 	)
 endif()
 

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -10,6 +10,8 @@ set VEHICLE_TYPE fw
 # MAV_TYPE_FIXED_WING 1
 param set-default MAV_TYPE 1
 
+param set-default CA_AIRFRAME 1
+
 #
 # Default parameters for fixed wing UAVs.
 #
@@ -26,6 +28,7 @@ param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_REQ_EPH 10
 param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
+param set-default EKF2_REQ_PDOP 4
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 1
 param set-default EKF2_RNG_QLTY_T 3

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -41,3 +41,9 @@ if param compare -s MC_NN_EN 1
 then
 	mc_nn_control start
 fi
+
+
+if param compare -s MC_RAPTOR_ENABLE 1
+then
+	mc_raptor start
+fi

ROMFS/px4fmu_common/init.d/rc.sc_defaults

@@ -8,9 +8,6 @@ set VEHICLE_TYPE spacecraft
 # MAV_TYPE_SPACECRAFT_ORBITTER
 param set-default MAV_TYPE 45
 
-# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
-param set-default UXRCE_DDS_AG_IP -1062731775
-
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
 param set-default CBRK_SUPPLY_CHK 894281

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -8,17 +8,24 @@
 #                           Begin Optional drivers                            #
 ###############################################################################
 
+%ifdef CONFIG_DRIVERS_BATT_SMBUS
 if param compare -s SENS_EN_BATT 1
 then
 	batt_smbus start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_SMART_BATTERY_BATMON
 # Start batmon driver if enabled using BATMON_DRIVER_EN
 if param compare -s BATMON_DRIVER_EN 1
 then
 	batmon start -X  #start on external bus
 fi
+%endif
 
+
+%ifdef CONFIG_DRIVERS_PWM_INPUT
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS
 # Sensors on the PWM interface bank
 if param compare -s SENS_EN_LL40LS 1
 then
@@ -27,92 +34,121 @@ then
 		ll40ls_pwm start
 	fi
 fi
+%endif
 
 # External automatic trigger system
 if param compare FD_EXT_ATS_EN 1
 then
 	pwm_input start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS
 # Lidar-Lite on I2C
 if param compare -s SENS_EN_LL40LS 2
 then
 	ll40ls start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_MAPPYDOT
 # mappydot lidar sensor
 if param compare -s SENS_EN_MPDT 1
 then
 	mappydot start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_MB12XX
 # mb12xx sonar sensor
 if param greater -s SENS_EN_MB12XX 0
 then
 	mb12xx start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_PGA460
 # pga460 sonar sensor
 if param greater -s SENS_EN_PGA460 0
 then
 	pga460 start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C
 # Lightware i2c lidar sensor
 if param greater -s SENS_EN_SF1XX 0
 then
 	lightware_laser_i2c start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05
 # Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
 if param compare -s SENS_EN_SR05 1
 then
 	srf05 start
 fi
+%endif
 
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_TERARANGER
 # Teraranger one tof sensor
 if param greater -s SENS_EN_TRANGER 0
 then
 	teraranger start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905
 # paa3905 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PAA3905 0
 then
 	paa3905 -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902
 # paw3902 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PAW3902 0
 then
 	paw3902 -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901
 # pmw3901 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PMW3901 0
 then
 	pmw3901 -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X
 # vl53l0x i2c distance sensor
 if param compare -s SENS_EN_VL53L0X 1
 then
 	vl53l0x start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
 	vl53l1x start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_TF02PRO
 # tf02 pro i2c distance sensor
 if param compare -s SENS_EN_TF02PRO 1
 then
 	tf02pro start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
@@ -125,25 +161,33 @@ then
 		adis16448 -S start -R 4
 	fi
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507
 # ADIS16507 spi external IMU
 if param greater -s SENS_EN_ADIS165X 0
 then
 	adis16507 -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_IMU_MURATA_SCH16T
 # SCH16T spi external IMU
 if param compare -s SENS_EN_SCH16T 1
 then
 	sch16t -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then
 	ets_airspeed start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
@@ -153,92 +197,171 @@ then
 		sdp3x start -X -a 0x22
 	fi
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_MCP9808
+# Microchip MCP9808 temperature sensor external I2C
+if param compare -s SENS_EN_MCP9808 1
+then
+	mcp9808 start -X
+fi
+%endif
+
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515
 # TE MS4515 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4515 1
 then
 	ms4515 start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO
 # TE MS4525DO differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525DO 1
 then
 	ms4525do start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS5525DSO
 # TE MS5525DSO differential pressure sensor external I2C
 if param compare -s SENS_EN_MS5525DS 1
 then
 	ms5525dso start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033
 # TE ASP5033 differential pressure sensor external I2C
 if param compare -s SENS_EN_ASP5033 1
 then
 	asp5033 start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV
 # AUAV absolute/differential pressure sensor external I2C
 if param greater -s SENS_EN_AUAVX 0
 then
 	auav start -D -X
 	auav start -A -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_HYGROMETER_SHT3X
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
 	sht3x start -X
 	sht3x start -X -a 0x45
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_IRLOCK
 # IR-LOCK sensor external I2C
 if param compare -s SENS_EN_IRLOCK 1
 then
 	irlock start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06
 # SPL06 sensor external I2C
 if param compare -s SENS_EN_SPL06 1
 then
 	spl06 -X start
 	spl06 -X -a 0x77 start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06
 # SPA06 sensor external I2C
 if param compare -s SENS_EN_SPA06 1
 then
 	spa06 -X start
 	spa06 -X -a 0x77 start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_RPM_PCF8583
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then
 	pcf8583 start -X
 	pcf8583 start -X -a 0x51
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_ADC_ADS7953
+# ADC sensor ADS7953 external SPI
+if param compare -s ADC_ADS7953_EN 1
+then
+	ads7953 start -S
+fi
+%endif
+
+%ifdef CONFIG_DRIVERS_ADC_TLA2528
+# ADC sensor tla2528 external I2C
+if param compare -s ADC_TLA2528_EN 1
+then
+	tla2528 start -X
+fi
+%endif
+
+%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_TMP102
+# Start TMP102 temperature sensor
+if param compare -s SENS_EN_TMP102 1
+then
+	tmp102 start -X
+fi
+%endif
+
+%ifdef COMMON_MAGNETOMETER
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
+%ifdef CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948
 	icm20948_i2c_passthrough -X -q start
+%endif
 
 	# compasses
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_HMC5883
 	hmc5883 -T -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC
 	iis2mdc -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308
 	ist8308 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310
 	ist8310 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL
 	if ! lis3mdl -X -q start
 	then
 		lis3mdl -X -q -a 0x1c start
 	fi
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_QMC5883L
 	qmc5883l -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_QMC5883P
 	qmc5883p -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_RM3100
 	rm3100 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350
 	bmm350 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC
 	iis2mdc -X -q start
+%endif
 
 	# start last (wait for possible icm20948 passthrough mode)
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916
 	ak09916 -X -q start
+%endif
 fi
+%endif

ROMFS/px4fmu_common/init.d/rcS

@@ -228,30 +228,26 @@ else
 	fi
 	unset BOARD_RC_ADDITIONAL_INIT
 
-	# Load airframe configuration based on SYS_AUTOSTART parameter
-	if ! param compare SYS_AUTOSTART 0
+	# Load airframe configuration based on SYS_AUTOSTART parameter if successful VEHICLE_TYPE gets set
+	# Run autogenerated ROMFS airframe script
+	. ${R}etc/init.d/rc.autostart
+
+	if [ ${VEHICLE_TYPE} = none ]
 	then
-		# rc.autostart directly run the right airframe script which sets the VEHICLE_TYPE
-		# Look for airframe in ROMFS
-		. ${R}etc/init.d/rc.autostart
-
-		if [ ${VEHICLE_TYPE} = none ]
+		# Run external airframe script on SD card
+		if [ $STORAGE_AVAILABLE = yes ]
 		then
-			# Use external startup file
-			if [ $STORAGE_AVAILABLE = yes ]
-			then
-				. ${R}etc/init.d/rc.autostart_ext
-			else
-				echo "ERROR [init] SD card not mounted - can't load external airframe"
-			fi
+			. ${R}etc/init.d/rc.autostart_ext
+		else
+			echo "ERROR [init] SD not mounted, skipping external airframe"
 		fi
+	fi
 
-		if [ ${VEHICLE_TYPE} = none ]
-		then
-			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
-			param set SYS_AUTOSTART 0
-			tune_control play error
-		fi
+	if [ ${VEHICLE_TYPE} = none ]
+	then
+		echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
+		param set SYS_AUTOSTART 0
+		tune_control play error
 	fi
 
 	# Check parameter version and reset upon airframe configuration version mismatch.
@@ -269,12 +265,15 @@ else
 	# Start the tone_alarm driver.
 	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
 	#
+%ifdef CONFIG_DRIVERS_TONE_ALARM
 	tone_alarm start
+%endif
 
 	#
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
+%ifdef CONFIG_MODULES_DATAMAN
 	if param compare -s SYS_DM_BACKEND 1
 	then
 		dataman start -r
@@ -285,11 +284,14 @@ else
 			dataman start
 		fi
 	fi
+%endif
 
 	#
 	# Start the socket communication send_event handler.
 	#
+%ifdef CONFIG_MODULES_SEND_EVENT
 	send_event start
+%endif
 
 	#
 	# Start the hardfault streamer.
@@ -302,15 +304,25 @@ else
 	#
 	# Start the resource load monitor.
 	#
+%ifdef CONFIG_MODULES_LOAD_MON
 	load_mon start
+%endif
 
 	#
 	# Start system state indicator.
 	#
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED
 	rgbled start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C
 	rgbled_ncp5623c start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_LP5562
 	rgbled_lp5562 start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_IS31FL3195
 	rgbled_is31fl3195 start -X -q
+%endif
 
 	#
 	# Override parameters from user configuration file.
@@ -335,11 +347,21 @@ else
 		# start the simulator in hardware if needed
 		if param compare SYS_HITL 2
 		then
+%ifdef CONFIG_MODULES_SIMULATION_SIMULATOR_SIH
 			simulator_sih start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM
 			sensor_baro_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM
 			sensor_mag_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM
 			sensor_gps_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM
 			sensor_agp_sim start
+%endif
 		fi
 
 	else
@@ -356,43 +378,58 @@ else
 
 		. ${R}etc/init.d/rc.sensors
 
+%ifdef CONFIG_MODULES_SENSORS
+%ifdef CONFIG_MODULES_ESC_BATTERY
 		if param compare -s BAT1_SOURCE 2
 		then
 			esc_battery start
 		fi
+%endif
 
+%ifdef CONFIG_MODULES_BATTERY_STATUS
 		if ! param compare BAT1_SOURCE 1
 		then
 			battery_status start
 		fi
+%endif
+%endif
 
+%ifdef CONFIG_MODULES_SENSORS
 		sensors start
+%endif
 	fi
 
 	#
 	# state estimator selection
 	#
+%ifdef CONFIG_MODULES_EKF2
 	if param compare -s EKF2_EN 1
 	then
 		ekf2 start &
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR
 	if param compare -s LPE_EN 1
 	then
 		local_position_estimator start
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q
 	if param compare -s ATT_EN 1
 	then
 		attitude_estimator_q start
 	fi
+%endif
 
+%ifdef CONFIG_DRIVERS_PX4IO
 	#
 	# px4io
 	#
 	if px4io supported
 	then
-	# Check if PX4IO present and update firmware if needed.
+		# Check if PX4IO present and update firmware if needed.
 		if [ -f $IOFW ]
 		then
 			if ! px4io checkcrc ${IOFW}
@@ -422,40 +459,56 @@ else
 			fi
 		fi
 	fi
+%endif
 
 	# Heater driver for temperature regulated IMUs.
 	# The heater needs to start after px4io.
+%ifdef CONFIG_DRIVERS_HEATER
 	if param compare -s SENS_EN_THERMAL 1
 	then
 		heater start
 	fi
+%endif
 
 
 	#
 	# RC update (map raw RC input to calibrate manual control)
 	#  start before commander
 	#
+%ifdef CONFIG_MODULES_RC_UPDATE
 	rc_update start
+%endif
+%ifdef CONFIG_MODULES_MANUAL_CONTROL
 	manual_control start
+%endif
 
 	# Start camera trigger, capture and PPS before pwm_out as they might access
 	# pwm pins
+%ifdef CONFIG_DRIVERS_CAMERA_TRIGGER
 	if param greater -s TRIG_MODE 0
 	then
 		camera_trigger start
+%ifdef CONFIG_MODULES_CAMERA_FEEDBACK
 		camera_feedback start
+%endif
 	fi
+%endif
 	# PPS capture driver
+%ifdef CONFIG_DRIVERS_PPS_CAPTURE
 	if param greater -s PPS_CAP_ENABLE 0
 	then
 		pps_capture start
 	fi
+%endif
 	# RPM capture driver
+%ifdef CONFIG_DRIVERS_RPM_CAPTURE
 	if param greater -s RPM_CAP_ENABLE 0
 	then
 		rpm_capture start
 	fi
+%endif
 	# Camera capture driver
+%ifdef CONFIG_DRIVERS_CAMERA_CAPTURE
 	if param greater -s CAM_CAP_FBACK 0
 	then
 		if camera_capture start
@@ -463,25 +516,34 @@ else
 			camera_capture on
 		fi
 	fi
+%endif
 
 	#
 	# Commander
 	#
+%ifdef CONFIG_MODULES_COMMANDER
 	if param greater SYS_HITL 0
 	then
 		commander start -h
 
+%ifdef CONFIG_MODULES_SIMULATION_PWM_OUT_SIM
 		if ! pwm_out_sim start -m hil
 		then
 			tune_control play error
 		fi
+%endif
 
 	else
 		commander start
 
+%ifdef CONFIG_DRIVERS_DSHOT
 		dshot start
+%endif
+%ifdef CONFIG_DRIVERS_PWM_OUT
 		pwm_out start
+%endif
 	fi
+%endif
 
 	#
 	# Configure vehicle type specific parameters.
@@ -489,10 +551,12 @@ else
 	. ${R}etc/init.d/rc.vehicle_setup
 
 	# Pre-takeoff continuous magnetometer calibration
+%ifdef CONFIG_MODULES_MAG_BIAS_ESTIMATOR
 	if param compare -s MBE_ENABLE 1
 	then
 		mag_bias_estimator start
 	fi
+%endif
 
 	#
 	# Optional board mavlink streams: rc.board_mavlink
@@ -537,54 +601,67 @@ else
 	#
 	# Start the navigator.
 	#
+%ifdef CONFIG_MODULES_NAVIGATOR
 	navigator start
+%endif
 
+%ifdef CONFIG_MODULES_TEMPERATURE_COMPENSATION
 	#
 	# Start a thermal calibration if required.
 	#
-	set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
-	if [ -f ${RC_THERMAL_CAL} ]
-	then
-		. ${RC_THERMAL_CAL}
-	fi
-	unset RC_THERMAL_CAL
+	. ${R}etc/init.d/rc.thermal_cal
+%endif
 
 	#
 	# Start gimbal to control mounts such as gimbals, disabled by default.
 	#
+%ifdef CONFIG_MODULES_GIMBAL
 	if param greater -s MNT_MODE_IN -1
 	then
 		gimbal start
 	fi
+%endif
 
 	# Blacksheep telemetry
+%ifdef CONFIG_DRIVERS_TELEMETRY_BST
 	if param compare -s TEL_BST_EN 1
 	then
 		bst start -X
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_GYRO_FFT
 	if param compare -s IMU_GYRO_FFT_EN 1
 	then
 		gyro_fft start
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_GYRO_CALIBRATION
 	if param compare -s IMU_GYRO_CAL_EN 1
 	then
 		gyro_calibration start
 	fi
+%endif
 
 	# Check for px4flow sensor
+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW
 	if param compare -s SENS_EN_PX4FLOW 1
 	then
 		px4flow start -X &
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_PAYLOAD_DELIVERER
 	payload_deliverer start
+%endif
 
+%ifdef CONFIG_MODULES_INTERNAL_COMBUSTION_ENGINE_CONTROL
 	if param compare -s ICE_EN 1
 	then
 		internal_combustion_engine_control start
 	fi
+%endif
 
 	#
 	# Optional board supplied extras: rc.board_extras
@@ -606,15 +683,12 @@ else
 		. $FEXTRAS
 	fi
 
+%ifdef CONFIG_MODULES_LOGGER
 	#
 	# Start the logger.
 	#
-	set RC_LOGGING ${R}etc/init.d/rc.logging
-	if [ -f ${RC_LOGGING} ]
-	then
-		. ${RC_LOGGING}
-	fi
-	unset RC_LOGGING
+	. ${R}etc/init.d/rc.logging
+%endif
 
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
@@ -635,6 +709,7 @@ else
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
+%ifdef CONFIG_DRIVERS_UAVCAN
 	if param greater -s UAVCAN_ENABLE 0
 	then
 		# Start core UAVCAN module.
@@ -643,15 +718,27 @@ else
 			tune_control play error
 		fi
 	else
+%ifdef CONFIG_DRIVERS_CYPHAL
 		if param greater -s CYPHAL_ENABLE 0
 		then
 			cyphal start
 		fi
+%endif
 	fi
+%else
+%ifdef CONFIG_DRIVERS_CYPHAL
+	if param greater -s CYPHAL_ENABLE 0
+	then
+		cyphal start
+	fi
+%endif
+%endif
+%ifdef CONFIG_MODULES_ZENOH
 	if param greater -s ZENOH_ENABLE 0
 	then
 		zenoh start
 	fi
+%endif
 
 #
 # End of autostart.

Tools/astyle/astylerc

@@ -15,4 +15,4 @@ ignore-exclude-errors-x
 lineend=linux
 exclude=EASTL
 add-brackets
-max-code-length=120
+max-code-length=140

Tools/astyle/files_to_check_code_style.sh

@@ -21,11 +21,13 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/events/libevents -prune -o \
     -path src/lib/parameters/uthash -prune -o \
+    -path src/lib/rl_tools/rl_tools -prune -o \
     -path src/lib/wind_estimator/python/generated -prune -o \
     -path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
     -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
     -path src/modules/mavlink/mavlink -prune -o \
+    -path src/modules/mc_raptor/blob -prune -o \
     -path test/fuzztest -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \
     -path src/lib/crypto/monocypher -prune -o \

Tools/auterion/remote_update_fmu.sh

@@ -7,6 +7,7 @@ fi
 
 ssh_port=22
 ssh_user=root
+ssh_opts="-o UserKnownHostsFile=/dev/null -o StrictHostKeyChecking=no"
 
 while getopts ":f:c:d:p:u:r" opt; do
 	case ${opt} in
@@ -67,7 +68,7 @@ target_file_name="update-dev.tar"
 if [ "$revert" == true ]; then
 	# revert to the release version which was originally deployed
 	cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
-	ssh -t -p $ssh_port $ssh_user@$device "$cmd"
+	ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"
 else
 	# create custom update-dev.tar
 	tmp_dir="$(mktemp -d)"
@@ -105,11 +106,11 @@ else
 	$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
 
 	# send it to the target to start flashing
-	scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
+	scp $ssh_opts -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
 	popd &>/dev/null
 	rm -rf "$tmp_dir"
 fi
 
 # grab status output for flashing progress
 cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
-ssh -t -p $ssh_port $ssh_user@$device "$cmd"
+ssh $ssh_opts -t -p $ssh_port $ssh_user@$device "$cmd"

Tools/check_submodules.sh

@@ -17,37 +17,12 @@ if [[ -f $1"/.git" || -d $1"/.git" ]]; then
 	SUBMODULE_STATUS=$(git submodule summary "$1")
 	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1")
 	if ! [[ -z "$STATUSRETVAL" ]]; then
-		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
-		echo ""
-		echo -e "Different commits:"
+		echo -e "\033[33mWarning: $1 submodule has uncommitted changes:\033[0m"
 		echo -e "$SUBMODULE_STATUS"
 		echo ""
+		echo -e "To update submodules to the expected version, run:"
+		echo -e "   \033[94mgit submodule sync --recursive && git submodule update --init --recursive\033[0m"
 		echo ""
-		echo -e " *******************************************************************************"
-		echo -e " *   \033[31mIF YOU DID NOT CHANGE THIS FILE (OR YOU DON'T KNOW WHAT A SUBMODULE IS):\033[0m  *"
-		echo -e " *   \033[31mHit 'u' and <ENTER> to update ALL submodules and resolve this.\033[0m            *"
-		echo -e " *   (performs \033[94mgit submodule sync --recursive\033[0m                                  *"
-		echo -e " *    and \033[94mgit submodule update --init --recursive\033[0m )                            *"
-		echo -e " *******************************************************************************"
-		echo ""
-		echo ""
-		echo -e "   Only for EXPERTS:"
-		echo -e "   $1 submodule is not in the recommended version."
-		echo -e "   Hit 'y' and <ENTER> to continue the build with this version. Hit <ENTER> to resolve manually."
-		echo -e "   Use \033[94mgit add $1 && git commit -m 'Updated $1'\033[0m to choose this version (careful!)"
-		echo ""
-		read user_cmd
-		if [ "$user_cmd" == "y" ]; then
-			echo "Continuing build with manually overridden submodule.."
-		elif [ "$user_cmd" == "u" ]; then
-			git submodule sync --recursive -- $1
-			git submodule update --init --recursive -- $1 || true
-			git submodule update --init --recursive --force -- $1
-			echo "Submodule fixed, continuing build.."
-		else
-			echo "Build aborted."
-			exit 1
-		fi
 	fi
 else
 	git submodule --quiet sync --recursive --quiet -- $1

Tools/ci/generate_board_targets_json.py

@@ -25,15 +25,15 @@ parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
                     help='Pretty output instead of a single line')
 parser.add_argument('-g', '--groups', dest='group', action='store_true',
                     help='Groups targets')
-parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of board names to use instead of all')
+parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of build target name prefixes to include instead of all e.g. "px4_fmu-v5_"')
 
 args = parser.parse_args()
 verbose = args.verbose
 
-board_filter = []
+target_filter = []
 if args.filter:
-    for board in args.filter.split(','):
-        board_filter.append(board)
+    for target in args.filter.split(','):
+        target_filter.append(target)
 
 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
 build_configs = []
@@ -144,7 +144,7 @@ for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
                 label = files.name[:-9]
                 target_name = manufacturer.name + '_' + board.name + '_' + label
 
-                if board_filter and not board_name in board_filter:
+                if target_filter and not any(target_name.startswith(f) for f in target_filter):
                     if verbose: print(f'excluding board {board_name} ({target_name})')
                     continue
 

Tools/mavlink_shell.py

@@ -191,7 +191,7 @@ def main():
                         cur_history_index = len(command_history)
                     mav_serialport.write(cur_line+'\n')
                     cur_line = ''
-                elif ord(ch) == 127: # backslash
+                elif ord(ch) == 8: # backspace
                     if len(cur_line) > 0:
                         erase_last_n_chars(1)
                         cur_line = cur_line[:-1]

Tools/module_config/generate_actuators_metadata.py

@@ -238,6 +238,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
             ( 'disarmed', 'Disarmed', 'DIS', False ),
             ( 'min', 'Minimum', 'MIN', False ),
             ( 'max', 'Maximum', 'MAX', False ),
+            ( 'center', 'Center\n(for Servos)', 'CENT', False ),
             ( 'failsafe', 'Failsafe', 'FAIL', True ),
             ]
         for key, label, param_suffix, advanced in standard_params_array:

Tools/module_config/generate_params.py

@@ -284,6 +284,9 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
         minimum_description = \
 '''Minimum output value (when not disarmed).
+'''
+        center_description = \
+'''Servo Center output value (when not disarmed).
 '''
         maximum_description = \
 '''Maxmimum output value (when not disarmed).
@@ -296,6 +299,7 @@ When set to -1 (default), the value depends on the function (see {:}).
         standard_params_array = [
             ( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
             ( 'min', 'Minimum', 'MIN', minimum_description ),
+            ( 'center', 'Center', 'CENT', center_description ),
             ( 'max', 'Maximum', 'MAX', maximum_description ),
             ( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
             ]
@@ -312,6 +316,10 @@ When set to -1 (default), the value depends on the function (see {:}).
                     standard_params[key]['default'] = -1
                     standard_params[key]['min'] = -1
 
+                if key == 'center':
+                    standard_params[key]['default'] = -1
+                    standard_params[key]['min'] = -1
+
                 param = {
                     'description': {
                         'short': channel_label+' ${i} '+label+' Value',

Tools/process_sensor_caldata.py

@@ -1656,9 +1656,9 @@ sensor_baro_0['pressure'] = median_filter(sensor_baro_0['pressure'])
 # fit data
 median_pressure = np.median(sensor_baro_0['pressure'])
 if noResample:
-    coef_baro_0_x = np.polyfit(temp_rel,100*(sensor_baro_0['pressure']-median_pressure),5) # convert from hPa to Pa
+    coef_baro_0_x = np.polyfit(temp_rel,(sensor_baro_0['pressure']-median_pressure),5) # pressure in Pascal
 else:
-    temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_0['pressure']-median_pressure)) # convert from hPa to Pa
+    temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_0['pressure']-median_pressure)) # pressure in Pascal
     coef_baro_0_x = np.polyfit(temperature,baro,5)
 
 baro_0_params['TC_B0_X5'] = coef_baro_0_x[0]
@@ -1675,7 +1675,7 @@ baro_0_x_resample = fit_coef_baro_0_x(temp_rel_resample)
 plt.figure(13,figsize=(20,13))
 
 # draw plots
-plt.plot(sensor_baro_0['temperature'],100*sensor_baro_0['pressure']-100*median_pressure,'b')
+plt.plot(sensor_baro_0['temperature'],sensor_baro_0['pressure']-median_pressure,'b')
 plt.plot(temp_resample,baro_0_x_resample,'r')
 plt.title('Baro 0 ({}) Bias vs Temperature'.format(baro_0_params['TC_B0_ID']))
 plt.ylabel('Z bias (Pa)')
@@ -1717,9 +1717,9 @@ if num_baros >= 2:
     # fit data
     median_pressure = np.median(sensor_baro_1['pressure'])
     if noResample:
-        coef_baro_1_x = np.polyfit(temp_rel,100*(sensor_baro_1['pressure']-median_pressure),5) # convert from hPa to Pa
+        coef_baro_1_x = np.polyfit(temp_rel,(sensor_baro_1['pressure']-median_pressure),5) # pressure in Pascal
     else:
-        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_1['pressure']-median_pressure)) # convert from hPa to Pa
+        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_1['pressure']-median_pressure)) # pressure in Pascal
         coef_baro_1_x = np.polyfit(temperature,baro,5)
 
     baro_1_params['TC_B1_X5'] = coef_baro_1_x[0]
@@ -1736,7 +1736,7 @@ if num_baros >= 2:
     plt.figure(14,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
+    plt.plot(sensor_baro_1['temperature'],sensor_baro_1['pressure']-median_pressure,'b')
     plt.plot(temp_resample,baro_1_x_resample,'r')
     plt.title('Baro 1 ({}) Bias vs Temperature'.format(baro_1_params['TC_B1_ID']))
     plt.ylabel('Z bias (Pa)')
@@ -1778,9 +1778,9 @@ if num_baros >= 3:
     # fit data
     median_pressure = np.median(sensor_baro_2['pressure'])
     if noResample:
-        coef_baro_2_x = np.polyfit(temp_rel,100*(sensor_baro_2['pressure']-median_pressure),5) # convert from hPa to Pa
+        coef_baro_2_x = np.polyfit(temp_rel,(sensor_baro_2['pressure']-median_pressure),5) # pressure in Pascal
     else:
-        temperature, baro = resampleWithDeltaX(temp_rel,100*(sensor_baro_2['pressure']-median_pressure)) # convert from hPa to Pa
+        temperature, baro = resampleWithDeltaX(temp_rel,(sensor_baro_2['pressure']-median_pressure)) # pressure in Pascal
         coef_baro_2_x = np.polyfit(temperature,baro,5)
 
     baro_2_params['TC_B2_X5'] = coef_baro_2_x[0]
@@ -1797,7 +1797,7 @@ if num_baros >= 3:
     plt.figure(15,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
+    plt.plot(sensor_baro_2['temperature'],sensor_baro_2['pressure']-median_pressure,'b')
     plt.plot(temp_resample,baro_2_x_resample,'r')
     plt.title('Baro 2 ({}) Bias vs Temperature'.format(baro_2_params['TC_B2_ID']))
     plt.ylabel('Z bias (Pa)')
@@ -1838,7 +1838,7 @@ if num_baros >= 4:
 
     # fit data
     median_pressure = np.median(sensor_baro_3['pressure'])
-    coef_baro_3_x = np.polyfit(temp_rel,100*(sensor_baro_3['pressure']-median_pressure),5) # convert from hPa to Pa
+    coef_baro_3_x = np.polyfit(temp_rel,(sensor_baro_3['pressure']-median_pressure),5) # pressure in Pascal
     baro_3_params['TC_B3_X5'] = coef_baro_3_x[0]
     baro_3_params['TC_B3_X4'] = coef_baro_3_x[1]
     baro_3_params['TC_B3_X3'] = coef_baro_3_x[2]
@@ -1853,7 +1853,7 @@ if num_baros >= 4:
     plt.figure(16,figsize=(20,13))
 
     # draw plots
-    plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')
+    plt.plot(sensor_baro_3['temperature'],sensor_baro_3['pressure']-median_pressure,'b')
     plt.plot(temp_resample,baro_3_x_resample,'r')
     plt.title('Baro 3 ({}) Bias vs Temperature'.format(baro_3_params['TC_B3_ID']))
     plt.ylabel('Z bias (Pa)')

Tools/px4moduledoc/srcparser.py

@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
     # TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
     valid_categories = ['driver', 'estimator', 'controller', 'system',
                         'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
+    valid_subcategories = ['', 'adc', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                            'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']
 
     max_line_length = 80 # wrap lines that are longer than this

Tools/px_romfs_preprocess.py

@@ -0,0 +1,188 @@
+#!/usr/bin/env python3
+"""
+Preprocesses ROMFS files with C preprocessor to enable KConfig support.
+
+This script processes all rc* files in the ROMFS directory through the C preprocessor,
+allowing use of #ifdef, #ifndef, #if, #else, #endif directives with KConfig definitions.
+"""
+
+import argparse
+import os
+import subprocess
+import sys
+import tempfile
+from pathlib import Path
+
+
+def preprocess_file(file_path, kconfig_header, cpp_command):
+    """
+    Preprocess a single file through the C preprocessor.
+
+    Uses % as the preprocessor directive symbol (instead of #) to avoid conflicts
+    with shell comments. Converts %ifdef, %ifndef, %if, %else, %endif to
+    #ifdef, #ifndef, #if, #else, #endif before preprocessing.
+
+    Args:
+        file_path: Path to the file to preprocess
+        kconfig_header: Path to the px4_boardconfig.h header
+        cpp_command: C preprocessor command (usually the C compiler)
+    """
+    # Read original file
+    with open(file_path, 'r') as f:
+        original_content = f.read()
+
+    # Process the file line by line:
+    # 1. Remove shell comment lines (to avoid conflicts with CPP)
+    # 2. Convert % preprocessor directives to # directives
+    lines = original_content.split('\n')
+    converted_lines = []
+
+    for line in lines:
+        stripped = line.lstrip()
+
+        # Check if line starts with % followed by a preprocessor keyword
+        if stripped.startswith('%ifdef ') or stripped.startswith('%ifdef\t'):
+            # Preserve leading whitespace, convert %ifdef to #ifdef
+            converted_lines.append(line.replace('%ifdef', '#ifdef', 1))
+        elif stripped.startswith('%ifndef ') or stripped.startswith('%ifndef\t'):
+            converted_lines.append(line.replace('%ifndef', '#ifndef', 1))
+        elif stripped.startswith('%if '):
+            converted_lines.append(line.replace('%if', '#if', 1))
+        elif stripped.startswith('%elif '):
+            converted_lines.append(line.replace('%elif', '#elif', 1))
+        elif stripped.startswith('%else'):
+            converted_lines.append(line.replace('%else', '#else', 1))
+        elif stripped.startswith('%endif'):
+            converted_lines.append(line.replace('%endif', '#endif', 1))
+        elif stripped.startswith('#') and not stripped.startswith('#!'):
+            # Remove shell comment lines (but keep shebang)
+            # This prevents "# if ..." comments from being interpreted as "#if" by CPP
+            continue
+        else:
+            converted_lines.append(line)
+    converted_content = '\n'.join(converted_lines)
+
+    # Create temporary file with include directive and converted content
+    with tempfile.NamedTemporaryFile(mode='w', suffix='.in', delete=False) as tmp:
+        tmp.write(f'#include "{kconfig_header}"\n')
+        tmp.write(converted_content)
+        tmp_path = tmp.name
+
+    try:
+        # Run C preprocessor
+        # -P: don't generate #line directives
+        # -E: preprocess only
+        # -undef: don't predefine any non-standard macros
+        # -nostdinc: don't search standard include directories
+        # -x assembler-with-cpp: treat input as assembly (allows # comments to pass through)
+        result = subprocess.run(
+            [cpp_command, '-P', '-E', '-undef', '-nostdinc', '-x', 'assembler-with-cpp', tmp_path],
+            capture_output=True,
+            text=True,
+            check=True
+        )
+
+        preprocessed = result.stdout
+
+        # Clean up the output:
+        # 1. Remove empty lines at the beginning
+        # 2. Remove lines that are just whitespace
+        lines = preprocessed.split('\n')
+        cleaned_lines = []
+        started = False
+
+        for line in lines:
+            # Skip empty lines at the beginning
+            if not started and not line.strip():
+                continue
+            started = True
+            cleaned_lines.append(line)
+
+        # Remove trailing empty lines
+        while cleaned_lines and not cleaned_lines[-1].strip():
+            cleaned_lines.pop()
+
+        # Write preprocessed content back
+        with open(file_path, 'w') as f:
+            f.write('\n'.join(cleaned_lines))
+            if cleaned_lines:  # Add final newline if file is not empty
+                f.write('\n')
+
+        return True
+
+    except subprocess.CalledProcessError as e:
+        print(f"Error preprocessing {file_path}: {e}")
+        print(f"stderr: {e.stderr}")
+        return False
+    finally:
+        # Clean up temporary file
+        try:
+            os.unlink(tmp_path)
+        except:
+            pass
+
+
+def main():
+    parser = argparse.ArgumentParser(description='Preprocess ROMFS files with KConfig definitions')
+    parser.add_argument('--romfs-dir', required=True, help='ROMFS root directory')
+    parser.add_argument('--kconfig-header', required=True, help='Path to px4_boardconfig.h')
+    parser.add_argument('--cpp', required=True, help='C preprocessor command')
+    parser.add_argument('--pattern', default='rc*', help='File pattern to preprocess (default: rc*)')
+
+    args = parser.parse_args()
+
+    # Verify inputs
+    romfs_dir = Path(args.romfs_dir)
+    kconfig_header = Path(args.kconfig_header)
+
+    if not romfs_dir.exists():
+        print(f"Error: ROMFS directory not found: {romfs_dir}")
+        return 1
+
+    if not kconfig_header.exists():
+        print(f"Error: KConfig header not found: {kconfig_header}")
+        return 1
+
+    # Find all files to preprocess in init.d directory
+    init_d_dir = romfs_dir / 'init.d'
+    if not init_d_dir.exists():
+        print(f"Warning: init.d directory not found in {romfs_dir}")
+        return 0
+
+    # Find all rc* files (shell scripts)
+    files_to_process = []
+    for pattern in ['rc*', 'rcS']:
+        files_to_process.extend(init_d_dir.glob(pattern))
+
+    # Also check subdirectories like airframes
+    for subdir in init_d_dir.iterdir():
+        if subdir.is_dir():
+            for pattern in ['rc*']:
+                files_to_process.extend(subdir.glob(pattern))
+
+    # Remove duplicates and filter only files
+    files_to_process = list(set([f for f in files_to_process if f.is_file()]))
+
+    if not files_to_process:
+        print(f"Warning: No files matching pattern '{args.pattern}' found in {init_d_dir}")
+        return 0
+
+    print(f"Preprocessing {len(files_to_process)} ROMFS files with KConfig definitions...")
+
+    # Process each file
+    success_count = 0
+    for file_path in sorted(files_to_process):
+        rel_path = file_path.relative_to(romfs_dir)
+        print(f"  Processing: {rel_path}")
+        if preprocess_file(file_path, kconfig_header.absolute(), args.cpp):
+            success_count += 1
+        else:
+            print(f"  Warning: Failed to preprocess {rel_path}")
+
+    print(f"Successfully preprocessed {success_count}/{len(files_to_process)} files")
+
+    return 0 if success_count == len(files_to_process) else 1
+
+
+if __name__ == '__main__':
+    sys.exit(main())

Tools/px_uploader.py

@@ -98,40 +98,6 @@ class firmware(object):
 
     desc = {}
     image = bytes()
-    crctab = array.array('I', [
-        0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
-        0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
-        0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
-        0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
-        0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
-        0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
-        0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
-        0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
-        0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
-        0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
-        0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
-        0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
-        0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
-        0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
-        0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
-        0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
-        0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
-        0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
-        0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
-        0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
-        0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
-        0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
-        0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
-        0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
-        0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
-        0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
-        0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
-        0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
-        0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
-        0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
-        0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
-        0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d])
-    crcpad = bytearray(b'\xff\xff\xff\xff')
 
     def __init__(self, path):
 
@@ -149,17 +115,15 @@ class firmware(object):
     def property(self, propname):
         return self.desc[propname]
 
-    def __crc32(self, bytes, state):
-        for byte in bytes:
-            index = (state ^ byte) & 0xff
-            state = self.crctab[index] ^ (state >> 8)
-        return state
-
     def crc(self, padlen):
-        state = self.__crc32(self.image, int(0))
-        for _ in range(len(self.image), (padlen - 1), 4):
-            state = self.__crc32(self.crcpad, state)
-        return state
+        state = 0xFFFFFFFF
+        state = zlib.crc32(self.image, state)
+        padding_length = padlen - len(self.image)
+        if padding_length > 0:
+            padding = b'\xff' * padding_length
+            state = zlib.crc32(padding, state)
+
+        return (state ^ 0xFFFFFFFF) & 0xFFFFFFFF
 
 
 class uploader:

Tools/setup/requirements.txt

@@ -6,6 +6,7 @@ future
 jinja2>=2.8
 jsonschema
 kconfiglib
+lark
 lxml
 matplotlib>=3.0
 numpy>=1.13
@@ -14,8 +15,8 @@ packaging
 pandas>=0.21
 pkgconfig
 psutil
+pycryptodome
 pygments
-wheel>=0.31.1
 pymavlink
 pyros-genmsg
 pyserial
@@ -24,7 +25,6 @@ pyyaml
 requests
 setuptools>=39.2.0
 six>=1.12.0
-toml>=0.9
 sympy>=1.10.1
-pycryptodome
-lark
+toml>=0.9
+wheel>=0.31.1

Tools/upload_log.py

@@ -25,10 +25,6 @@ except ImportError as e:
     sys.exit(1)
 
 
-SERVER = 'https://logs.px4.io'
-#SERVER = 'http://localhost:5006' # for testing locally
-UPLOAD_URL = SERVER+'/upload'
-
 quiet = False
 
 def ask_value(text, default=None):
@@ -60,6 +56,8 @@ def main():
     parser = ArgumentParser(description=__doc__)
     parser.add_argument('--quiet', '-q', dest='quiet', action='store_true', default=False,
             help='Quiet mode: do not ask for values which were not provided as parameters')
+    parser.add_argument('--server', dest='server', type=str, default='https://logs.px4.io',
+                      help='Server URL (default: https://logs.px4.io), use http://localhost:5006 for testing locally')
     parser.add_argument("--description", dest="description", type=str,
                       help="Log description", default=None)
     parser.add_argument("--feedback", dest="feedback", type=str,
@@ -99,6 +97,9 @@ def main():
     else:
         email = args.email
 
+    server = args.server
+    upload_url = server + '/upload'
+
     payload = {'type': args.type, 'description': description,
                'feedback': feedback, 'email': email, 'source': args.source}
 
@@ -113,13 +114,13 @@ def main():
             print('Uploading '+file_name+'...')
 
         with open(file_name, 'rb') as f:
-            r = requests.post(UPLOAD_URL, data=payload, files={'filearg': f},
+            r = requests.post(upload_url, data=payload, files={'filearg': f},
                     allow_redirects=False)
             if r.status_code == 302: # redirect
                 if 'Location'  in r.headers:
                     plot_url = r.headers['Location']
                     if len(plot_url) > 0 and plot_url[0] == '/':
-                        plot_url = SERVER + plot_url
+                        plot_url = server + plot_url
                     print('URL: '+plot_url)
 
 

boards/3dr/ctrl-zero-h7-oem-revg/default.px4board

@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config/scripts/script.ld

@@ -132,7 +132,6 @@ ENTRY(_stext)
  */
 EXTERN(abort)
 EXTERN(_bootdelay_signature)
-EXTERN(board_get_manifest)
 
 SECTIONS
 {

boards/3dr/ctrl-zero-h7-oem-revg/src/CMakeLists.txt

@@ -48,7 +48,6 @@ else()
 		i2c.cpp
 		init.c
 		led.c
-		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c

boards/accton-godwit/ga1/default.px4board

@@ -34,7 +34,6 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -67,7 +66,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y

boards/accton-godwit/ga1/init/rc.board_defaults

@@ -3,19 +3,13 @@
 # board specific defaults
 #------------------------------------------------------------------------------
 
-# By disabling all 3 INA modules, we use the
-# i2c_launcher instead.
-param set - default SENS_EN_INA238 0
-param set - default SENS_EN_INA228 0
-param set - default SENS_EN_INA226 0
-
 # Mavlink ethernet (CFG 1000)
-param set - default MAV_2_CONFIG 1000
-param set - default MAV_2_BROADCAST 1
-param set - default MAV_2_MODE 0
-param set - default MAV_2_RADIO_CTL 0
-param set - default MAV_2_RATE 100000
-param set - default MAV_2_REMOTE_PRT 14550
-param set - default MAV_2_UDP_PRT 14550
+param set-default MAV_2_CONFIG 1000
+param set-default MAV_2_BROADCAST 1
+param set-default MAV_2_MODE 0
+param set-default MAV_2_RADIO_CTL 0
+param set-default MAV_2_RATE 100000
+param set-default MAV_2_REMOTE_PRT 14550
+param set-default MAV_2_UDP_PRT 14550
 
 safety_button start